Dog training question.

We got our Blue Heeler "Cooper" as a 8 week old pup, the commands "NO", "COME" & "STAY" (I always say his name first then the command) took a little time over the first few months or so we had him, but he seemed to pick it up rather quickly especially after he warmed up to us. His one fault was if someone was walking a dog on the street he would leave the yard thinking it was play time. Now he knows his yard boundaries and admittedly I pay more attention to the street activity when out in the yard and the dog is loose, when I see a dog walker coming the instant he sees and starts to run towards it I give the "NO" command and he stops dead in his tracks, then the "COME" command and he returns to me, and believe it or not I didn't reward him for learning things other than a good petting and telling him he was a good boy, the treats come when we're back in the house .

He sits and lays down when I tell him, if I hold out my left or right hand when he is sitting he gives me a paw for a handshake he barks when I tell him to "speak".

Oh, and NO shock collar has ever been on this dog.